EP4019204A4 - Method, device and system for controlling robot, storage medium and terminal - Google Patents

Method, device and system for controlling robot, storage medium and terminal Download PDF

Info

Publication number
EP4019204A4
EP4019204A4 EP19948118.5A EP19948118A EP4019204A4 EP 4019204 A4 EP4019204 A4 EP 4019204A4 EP 19948118 A EP19948118 A EP 19948118A EP 4019204 A4 EP4019204 A4 EP 4019204A4
Authority
EP
European Patent Office
Prior art keywords
terminal
storage medium
controlling robot
robot
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19948118.5A
Other languages
German (de)
French (fr)
Other versions
EP4019204A1 (en
Inventor
Liang LIAO
Yu Wen Li
Ying Liu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Ltd China
Original Assignee
Siemens Ltd China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Ltd China filed Critical Siemens Ltd China
Publication of EP4019204A1 publication Critical patent/EP4019204A1/en
Publication of EP4019204A4 publication Critical patent/EP4019204A4/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36087—Edit, modify program for position errors, moving path, use conversion matrix
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49087—Adjust parameter to compensate path deviation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
EP19948118.5A 2019-09-30 2019-09-30 Method, device and system for controlling robot, storage medium and terminal Pending EP4019204A4 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/109586 WO2021062694A1 (en) 2019-09-30 2019-09-30 Method, device and system for controlling robot, storage medium and terminal

Publications (2)

Publication Number Publication Date
EP4019204A1 EP4019204A1 (en) 2022-06-29
EP4019204A4 true EP4019204A4 (en) 2023-05-03

Family

ID=75337690

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19948118.5A Pending EP4019204A4 (en) 2019-09-30 2019-09-30 Method, device and system for controlling robot, storage medium and terminal

Country Status (4)

Country Link
US (1) US20220371196A1 (en)
EP (1) EP4019204A4 (en)
CN (1) CN114174009B (en)
WO (1) WO2021062694A1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018081136A2 (en) * 2016-10-25 2018-05-03 Eugene Gregerson Methods and systems for robot-assisted surgery
US20190021802A1 (en) * 2015-07-01 2019-01-24 Mako Surgical Corp. Robotic Systems And Methods For Controlling A Tool Removing Material From A Workpiece

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JPH06328385A (en) * 1993-05-20 1994-11-29 Fanuc Ltd Attitude control of visual sensor of industrial robot
DE102007024143A1 (en) * 2007-05-24 2008-11-27 Dürr Systems GmbH Motion control for elastic robot structures
JP4560658B2 (en) * 2007-12-10 2010-10-13 本田技研工業株式会社 Control device for legged mobile robot
EP2212753B1 (en) * 2008-12-17 2011-05-04 KUKA Laboratories GmbH Method for allowing a manipulator to cover a predetermined trajectory, and control device for carrying out said method
JP5981143B2 (en) * 2009-02-03 2016-08-31 ファナック アメリカ コーポレイション Robot tool control method
US9701019B2 (en) * 2011-09-15 2017-07-11 Convergent Information Technologies Gmbh System and method for the automatic generation of robot programs
CN103418950A (en) * 2013-07-03 2013-12-04 江南大学 Automatic posture adjusting method for industrial welding robot in seam tracking process
CN104626152B (en) * 2013-11-14 2016-08-31 沈阳新松机器人自动化股份有限公司 Industrial robot Active Compliance Control method and device
SE540131C2 (en) * 2014-12-24 2018-04-10 Husqvarna Ab Robotic work tool with trajectory correction
CN104965517B (en) * 2015-07-07 2018-01-26 张耀伦 A kind of planing method of robot cartesian space track
EP3387496A4 (en) * 2015-12-11 2019-07-31 ABB Schweiz AG Robot off-line programming method and appartus using the same
CN105437232B (en) * 2016-01-11 2017-07-04 湖南拓视觉信息技术有限公司 A kind of method and device of control multi-joint Mobile Robot Obstacle Avoidance
CN106444739A (en) * 2016-07-15 2017-02-22 鹿龙 Multi-industrial-robot virtual offline co-simulation system and method
CN107662205A (en) * 2016-07-29 2018-02-06 深圳光启合众科技有限公司 Robot and its joint motions control method and device
US11364630B2 (en) * 2017-02-17 2022-06-21 Abb Schweiz Ag Method for controlling an industrial robot during lead-through programming of the robot and an industrial robot
CN108340352A (en) * 2018-02-09 2018-07-31 巨轮中德机器人智能制造有限公司 The long-range real-time control method of industrial robot based on teaching joint arm
US11400594B2 (en) * 2018-09-10 2022-08-02 Fanuc America Corporation Zero teach for robotic continuous path
CN109877836B (en) * 2019-03-13 2021-06-08 浙江大华技术股份有限公司 Path planning method and device, mechanical arm controller and readable storage medium
JP7048535B2 (en) * 2019-04-01 2022-04-05 ファナック株式会社 Mechanism for controlling the robot Robot control device that calibrates error parameters

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190021802A1 (en) * 2015-07-01 2019-01-24 Mako Surgical Corp. Robotic Systems And Methods For Controlling A Tool Removing Material From A Workpiece
WO2018081136A2 (en) * 2016-10-25 2018-05-03 Eugene Gregerson Methods and systems for robot-assisted surgery

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021062694A1 *

Also Published As

Publication number Publication date
US20220371196A1 (en) 2022-11-24
CN114174009A (en) 2022-03-11
EP4019204A1 (en) 2022-06-29
WO2021062694A1 (en) 2021-04-08
CN114174009B (en) 2023-07-21

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